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Changes for page Humanoid Robot

Last modified by Laura Ottevanger on 2022/04/05 13:53
From version Icon 18.1 Icon
edited by Tim Huisman
on 2022/04/04 18:41
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To version Icon 20.1 Icon
edited by Tim Huisman
on 2022/04/04 18:48
Change comment: There is no comment for this version

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1 +This section starts with an explanation of why we chose the MiRo robot for this project, after which we describe our experiences with working with MiRo in detail.
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1 1  === Robot choice ===
2 2  As described in [[objectives>>https://xwiki.ewi.tudelft.nl/xwiki/wiki/sce2022group02/view/Objectives/]], our goal is to give patients with dementia the autonomy and capability to take walks on their own, whenever they want. Three robots were made available to help us in achieving this goal: NAO, Pepper and MiRo. This section contains a description of our considerations in choosing a robot suitable for our objectives, after which we describe the capabilities of the chosen robot.
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4 -Although [[Nao>>https://www.softbankrobotics.com/emea/en/nao]] is a cute, humanoid robot which could allow for nice interactions with our patients, it can only move by walking on its small robot legs. As our main goal is to facilitate walks, this robot did not seem suitable as its walking speed is low and it is likely to fall over with small bumps.
6 +Although [[Nao>>https://www.softbankrobotics.com/emea/en/nao]] is a cute, humanoid robot that could allow for nice interactions with our patients, it can only move by walking on its small robot legs. As our main goal is to facilitate walks, this robot did not seem suitable as its walking speed is low and it is likely to fall over with small bumps.
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6 6  [[Pepper>>https://www.softbankrobotics.com/emea/en/pepper]] is a larger humanoid robot with wheels, therefore not having the same problem NAO has. It has fully movable arms and a tablet on its chest, allowing for detailed interactions including gestures and user input. Although these features are nice, they are not required for our goal. These features also mean that Pepper is quite large, taking up a lot of space in each room or corridor.
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24 24  =====Programming difficulties=====
25 25  The creators of MiRo have set up MiRoCloud to allow people to determine the behaviour of MiRo. When using Mirocloud, there are two possibilities: using the block-based programming method 'Blockly', or coding the behaviour in Python. Blockly is mainly created for the purpose of teaching children how to program. The ease of use that this brings severely hinders the capabilities of MiRo, as you can only execute blocks in sequence. You can also start creating MiRo's behaviour in Blockly and then convert this to Python code, but we noticed that Blockly does not always create runnable code. For example, if one is using arrays/lists, Blockly can accidentally place NaN when trying to access an item from the list. You can also write the behaviour in Python directly, but unfortunately, the environment is a Sandbox. You can not use external modules (and thus not import things), so only basic Python code can be used. Furthermore, we have noticed that MiroCloud breaks a lot, either on the PC itself or in connecting with the robot. A lot of the time, MiroCloud will give an error when trying to send code to the Robot (such as 'camera's can't be accessed'). MiroCloud also gives an error on Chromium-based browsers, which can be solved by using Firefox. Finally, we have tried to get the robot to make sounds ,but we were only able to send specific Hertz ranges to the robot for a certain amount of time. Unfortunately, we were not able to get a sound that resembled a dog.
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27 -The other option for controlling MiRo is to not use the MiroCloud system, but to try to install the MDK and use it. Unfortunately, this proved to be very difficult. A set-up guide can be found [[here >> http://labs.consequentialrobotics.com/miro-e/docs/index.php?page=Developer_Install_Steps_Install_MDK]]. When it has been installed, it is difficult to use the MDK as accessing the robot and coding it is very difficult. Unfortunately, we did not manage to get this running after a number of tries, and instead focused on developing the idea of our solution further.
29 +The other option for controlling MiRo is to not use the MiroCloud system, but to try to install the MDK and use it. Unfortunately, this proved to be very difficult. A set-up guide can be found [[here>>http://labs.consequentialrobotics.com/miro-e/docs/index.php?page=Developer_Install_Steps_Install_MDK]]. When it has been installed, it is difficult to use the MDK as accessing the robot and coding it is very difficult. Unfortunately, we did not manage to get this running after a number of tries, and instead focused on developing the idea of our solution further.
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30 30  =====Wizard of Ozzing=====
31 -The MiRo robot can be controlled with certain PS4 controllers. We have noticed that PS5 controllers will also work but the head can't be controlled as that one is mapped to the triggers and they need to be held in the middle to keep the head of the MiRo in the middle. Pairing the MiRo with a controller can be used by following the steps on the following page: [[PS4 Setup >> http://labs.consequentialrobotics.com/miro-e/docs/index.php?page=Husbandry_MIROapp_Home_page_Remote_settings_dialog]]. On this page, one can also found which controllers can be used. The controls are on the following page: [[PS4 Controls >> http://labs.consequentialrobotics.com/miro-e/docs/index.php?page=Husbandry_MIROapp_Controller_manager_Remote_controller]]
33 +The MiRo robot can be controlled with certain PS4 controllers. We have noticed that PS5 controllers will also work but the head can't be controlled as that one is mapped to the triggers and they need to be held in the middle to keep the head of the MiRo in the middle. Pairing the MiRo with a controller can be used by following the steps on the following page: [[PS4 Setup>>http://labs.consequentialrobotics.com/miro-e/docs/index.php?page=Husbandry_MIROapp_Home_page_Remote_settings_dialog]]. On this page, one can also found which controllers can be used. The controls are on the following page: [[PS4 Controls>>http://labs.consequentialrobotics.com/miro-e/docs/index.php?page=Husbandry_MIROapp_Controller_manager_Remote_controller]]
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